/* | |
FreeRTOS V7.0.2 - Copyright (C) 2011 Real Time Engineers Ltd. | |
*************************************************************************** | |
* * | |
* FreeRTOS tutorial books are available in pdf and paperback. * | |
* Complete, revised, and edited pdf reference manuals are also * | |
* available. * | |
* * | |
* Purchasing FreeRTOS documentation will not only help you, by * | |
* ensuring you get running as quickly as possible and with an * | |
* in-depth knowledge of how to use FreeRTOS, it will also help * | |
* the FreeRTOS project to continue with its mission of providing * | |
* professional grade, cross platform, de facto standard solutions * | |
* for microcontrollers - completely free of charge! * | |
* * | |
* >>> See http://www.FreeRTOS.org/Documentation for details. <<< * | |
* * | |
* Thank you for using FreeRTOS, and thank you for your support! * | |
* * | |
*************************************************************************** | |
This file is part of the FreeRTOS distribution. | |
FreeRTOS is free software; you can redistribute it and/or modify it under | |
the terms of the GNU General Public License (version 2) as published by the | |
Free Software Foundation AND MODIFIED BY the FreeRTOS exception. | |
>>>NOTE<<< The modification to the GPL is included to allow you to | |
distribute a combined work that includes FreeRTOS without being obliged to | |
provide the source code for proprietary components outside of the FreeRTOS | |
kernel. FreeRTOS is distributed in the hope that it will be useful, but | |
WITHOUT ANY WARRANTY; without even the implied warranty of MERCHANTABILITY | |
or FITNESS FOR A PARTICULAR PURPOSE. See the GNU General Public License for | |
more details. You should have received a copy of the GNU General Public | |
License and the FreeRTOS license exception along with FreeRTOS; if not it | |
can be viewed here: http://www.freertos.org/a00114.html and also obtained | |
by writing to Richard Barry, contact details for whom are available on the | |
FreeRTOS WEB site. | |
1 tab == 4 spaces! | |
http://www.FreeRTOS.org - Documentation, latest information, license and | |
contact details. | |
http://www.SafeRTOS.com - A version that is certified for use in safety | |
critical systems. | |
http://www.OpenRTOS.com - Commercial support, development, porting, | |
licensing and training services. | |
*/ | |
/* Standard includes. */ | |
#include <stdlib.h> | |
/* Kernel includes. */ | |
#include "FreeRTOS.h" | |
#include "task.h" | |
/* Machine includes */ | |
#include <machine/counter.h> | |
#include <machine/ic.h> | |
/*-----------------------------------------------------------*/ | |
/* The initial PSR has the Previous Interrupt Enabled (PIEN) flag set. */ | |
#define portINITIAL_PSR ( 0x00020000 ) | |
/*-----------------------------------------------------------*/ | |
/* | |
* Perform any hardware configuration necessary to generate the tick interrupt. | |
*/ | |
static void prvSetupTimerInterrupt( void ); | |
/*-----------------------------------------------------------*/ | |
portSTACK_TYPE *pxPortInitialiseStack( portSTACK_TYPE * pxTopOfStack, pdTASK_CODE pxCode, void *pvParameters ) | |
{ | |
/* Make space on the stack for the context - this leaves a couple of spaces | |
empty. */ | |
pxTopOfStack -= 20; | |
/* Fill the registers with known values to assist debugging. */ | |
pxTopOfStack[ 16 ] = portKERNEL_INTERRUPT_PRIORITY_LEVEL; | |
pxTopOfStack[ 15 ] = portINITIAL_PSR; | |
pxTopOfStack[ 14 ] = ( unsigned long ) pxCode; | |
pxTopOfStack[ 13 ] = 0x00000000UL; /* R15. */ | |
pxTopOfStack[ 12 ] = 0x00000000UL; /* R14. */ | |
pxTopOfStack[ 11 ] = 0x0d0d0d0dUL; | |
pxTopOfStack[ 10 ] = 0x0c0c0c0cUL; | |
pxTopOfStack[ 9 ] = 0x0b0b0b0bUL; | |
pxTopOfStack[ 8 ] = 0x0a0a0a0aUL; | |
pxTopOfStack[ 7 ] = 0x09090909UL; | |
pxTopOfStack[ 6 ] = 0x08080808UL; | |
pxTopOfStack[ 5 ] = 0x07070707UL; | |
pxTopOfStack[ 4 ] = 0x06060606UL; | |
pxTopOfStack[ 3 ] = 0x05050505UL; | |
pxTopOfStack[ 2 ] = 0x04040404UL; | |
pxTopOfStack[ 1 ] = 0x03030303UL; | |
pxTopOfStack[ 0 ] = ( unsigned long ) pvParameters; | |
return pxTopOfStack; | |
} | |
/*-----------------------------------------------------------*/ | |
portBASE_TYPE xPortStartScheduler( void ) | |
{ | |
/* Set-up the timer interrupt. */ | |
prvSetupTimerInterrupt(); | |
/* Enable the TRAP yield. */ | |
irq[ portIRQ_TRAP_YIELD ].ien = 1; | |
irq[ portIRQ_TRAP_YIELD ].ipl = portKERNEL_INTERRUPT_PRIORITY_LEVEL; | |
/* Integrated Interrupt Controller: Enable all interrupts. */ | |
ic->ien = 1; | |
/* Restore callee saved registers. */ | |
portRESTORE_CONTEXT(); | |
/* Should not get here. */ | |
return 0; | |
} | |
/*-----------------------------------------------------------*/ | |
static void prvSetupTimerInterrupt( void ) | |
{ | |
/* Enable timer interrupts */ | |
counter1->reload = ( configCPU_CLOCK_HZ / configTICK_RATE_HZ ) - 1; | |
counter1->value = counter1->reload; | |
counter1->mask = 1; | |
/* Set the IRQ Handler priority and enable it. */ | |
irq[ IRQ_COUNTER1 ].ien = 1; | |
irq[ IRQ_COUNTER1 ].ipl = portKERNEL_INTERRUPT_PRIORITY_LEVEL; | |
} | |
/*-----------------------------------------------------------*/ | |
/* Trap 31 handler. */ | |
void interrupt31_handler( void ) __attribute__((naked)); | |
void interrupt31_handler( void ) | |
{ | |
portSAVE_CONTEXT(); | |
__asm volatile ( "call vTaskSwitchContext" ); | |
portRESTORE_CONTEXT(); | |
} | |
/*-----------------------------------------------------------*/ | |
static void prvProcessTick( void ) __attribute__((noinline)); | |
static void prvProcessTick( void ) | |
{ | |
vTaskIncrementTick(); | |
#if configUSE_PREEMPTION == 1 | |
vTaskSwitchContext(); | |
#endif | |
/* Clear the Tick Interrupt. */ | |
counter1->expired = 0; | |
} | |
/*-----------------------------------------------------------*/ | |
/* Timer 1 interrupt handler, used for tick interrupt. */ | |
void interrupt7_handler( void ) __attribute__((naked)); | |
void interrupt7_handler( void ) | |
{ | |
portSAVE_CONTEXT(); | |
prvProcessTick(); | |
portRESTORE_CONTEXT(); | |
} | |
/*-----------------------------------------------------------*/ | |
void vPortEndScheduler( void ) | |
{ | |
/* Nothing to do. Unlikely to want to end. */ | |
} | |
/*-----------------------------------------------------------*/ |